Research On The Design And Path Tracking Of A Liftable Mobile Platform For Wall Plastering Machine

In recent years,as the urban population continues to increase,China’s infrastructure and real estate industry ushered in rapid development.In construction projects,wall spraying and plastering operations account for thirty to forty percent of the entire construction cycle of the project time,due to the complex construction environment and uncertainties in the construction industry,the current wall construction still uses manual spraying operations,resulting in construction quality and efficiency is not improved,and with the improvement of people’s knowledge and quality of life,the number of people willing to engage in the construction industry is also decreasing,major construction sites appear The phenomenon of labor shortage,so the construction industry automation is an inevitable trend.In this paper,according to the problems of inflexible movement,low construction rigidity and bulky body of wall plastering machine in construction industry,we design and develop a liftable mobile platform for wall plastering machine,and study its path tracking algorithm.The main research of this paper includes the following aspects.:(1)Through research,we understood the needs of the construction unit,developed the overall design framework according to the needs,and established the 3D model of the mobile platform by using Soildworks.The key modules of the mobile platform were designed,and ANSYS workbench was used to check the strength and stiffness of the frame to ensure that the mobile platform can meet the strength and stiffness requirements in working condition.At the same time,the modal analysis of the body structure is completed,which can effectively avoid the resonance of the body resonance problem triggered by external excitation and ensure the stable operation of the body.(2)The kinematic model and posture error model of the moving platform are derived,and the kinematic simulation of straight line,turning and rotation of the moving platform is carried out by ADAMS software to verify the rationality of the structure design;the optimal design of the moving platform is carried out from three aspects of velocity,acceleration and center of mass position to determine the optimal parameters of the motion.For the problem of poor synchronization of the lifting mechanism,an improved deviation coupling control structure is proposed,and the effectiveness of the improved control structure is verified by Matlab simulation.(3)A pure pursuit algorithm based on optimized forward-looking distance is proposed.The problems of the sparrow optimization algorithm are analyzed,and the sparrow algorithm is improved from the initial population,position adaptive update,and jumping out of the local optimum respectively,and then the improved sparrow algorithm is used to optimize the forward-looking distance of the pure pursuit algorithm to make it more accurate and stable for path tracking,and finally the improved pure pursuit algorithm is used to simulate the path tracking of straight line,circular arc,and S-shaped trajectories respectively to verify the Finally,the improved pure pursuit algorithm is used to simulate the path tracking of straight line,circular arc and S-shaped trajectories to verify the superiority of the improved pure pursuit algorithm control performance.(4)The experimental platform was built according to the optimized parameters,and the lifting synchronization experiment,spraying plastering stability experiment and indoor in-situ steering experiment were conducted respectively.The experimental results show that the control accuracy of the improved deviation coupling synchronization control structure is accurate and the synchronization error is small;the wall spraying and plastering effect of the plastering machine equipped with the liftable mobile platform is improved significantly and the overall structural stability is good;the in-situ steering error meets the design index.Comprehensive verification of the reliability of the mobile platform structure design,the effectiveness of the control algorithm,can meet the actual work requirements.